{"id":"https://openalex.org/W2157325691","doi":"https://doi.org/10.1109/icra.2011.5980143","title":"A framework for preoperative planning of robotics-assisted minimally invasive cardiac surgery (RAMICS) under geometric uncertainty","display_name":"A framework for preoperative planning of robotics-assisted minimally invasive cardiac surgery (RAMICS) under geometric uncertainty","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2157325691","doi":"https://doi.org/10.1109/icra.2011.5980143","mag":"2157325691"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980143","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003456787","display_name":"Hamidreza Azimian","orcid":null},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]},{"id":"https://openalex.org/I131944076","display_name":"Lawson Health Research Institute","ror":"https://ror.org/051gsh239","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I131944076"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hamidreza Azimian","raw_affiliation_strings":["Canadian Surgical Technologies and Advanced Robotics (CSTAR), Lawson Health Research Institute, London, ONT, Canada","Department of Mechanical and Materials Engineering, University of Western Ontario, London, ONT, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Canadian Surgical Technologies and Advanced Robotics (CSTAR), Lawson Health Research Institute, London, ONT, Canada","institution_ids":["https://openalex.org/I131944076"]},{"raw_affiliation_string":"Department of Mechanical and Materials Engineering, University of Western Ontario, London, ONT, Canada","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032056508","display_name":"Rajni V. Patel","orcid":"https://orcid.org/0000-0003-3431-4617"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rajni V. Patel","raw_affiliation_strings":["CSTAR, The Department of Electrical and Computer Engineering and the Department of Surgery, UWO, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSTAR, The Department of Electrical and Computer Engineering and the Department of Surgery, UWO, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039782206","display_name":"Michael D. Naish","orcid":"https://orcid.org/0000-0001-7603-7182"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michael D. Naish","raw_affiliation_strings":["CSTAR, Department of Mechanical and Materials Engineering, and the Department of Electrical and Computer Engineering, UWO, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSTAR, Department of Mechanical and Materials Engineering, and the Department of Electrical and Computer Engineering, UWO, Canada","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068907752","display_name":"Bob Kiaii","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bob Kiaii","raw_affiliation_strings":["CSTAR and the Department of Surgery, UWO, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSTAR and the Department of Surgery, UWO, Canada","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3143,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.85878816,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"35","issue":null,"first_page":"5018","last_page":"5023"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9830999970436096,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6009467244148254},{"id":"https://openalex.org/keywords/surgical-planning","display_name":"Surgical planning","score":0.58341383934021},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.5299221873283386},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4885900616645813},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.47703808546066284},{"id":"https://openalex.org/keywords/surgical-team","display_name":"Surgical team","score":0.47050589323043823},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4305300712585449},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.4195471704006195},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36389368772506714},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.3543364107608795},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3383168578147888},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.31961768865585327},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15162178874015808},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09358552098274231}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6009467244148254},{"id":"https://openalex.org/C2779370443","wikidata":"https://www.wikidata.org/wiki/Q1776627","display_name":"Surgical planning","level":2,"score":0.58341383934021},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.5299221873283386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4885900616645813},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.47703808546066284},{"id":"https://openalex.org/C3018700120","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgical team","level":2,"score":0.47050589323043823},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4305300712585449},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.4195471704006195},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36389368772506714},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.3543364107608795},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3383168578147888},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.31961768865585327},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15162178874015808},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09358552098274231},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980143","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W54024621","https://openalex.org/W200401254","https://openalex.org/W1824223938","https://openalex.org/W1990777642","https://openalex.org/W2003025902","https://openalex.org/W2004593426","https://openalex.org/W2005553498","https://openalex.org/W2048614110","https://openalex.org/W2051549029","https://openalex.org/W2057366835","https://openalex.org/W2058192020","https://openalex.org/W2060530453","https://openalex.org/W2062691475","https://openalex.org/W2070917084","https://openalex.org/W2075887074","https://openalex.org/W2076387450","https://openalex.org/W2076732553","https://openalex.org/W2085545845","https://openalex.org/W2087967010","https://openalex.org/W2102479575","https://openalex.org/W2105054962","https://openalex.org/W2131164344","https://openalex.org/W2134139409","https://openalex.org/W2152882024","https://openalex.org/W2200947204","https://openalex.org/W2413411224","https://openalex.org/W2436369768","https://openalex.org/W6608144760","https://openalex.org/W6715411847"],"related_works":["https://openalex.org/W2391238498","https://openalex.org/W2417695103","https://openalex.org/W2187353876","https://openalex.org/W2137559662","https://openalex.org/W2982472318","https://openalex.org/W4313857565","https://openalex.org/W2970201033","https://openalex.org/W3210052689","https://openalex.org/W4396849479","https://openalex.org/W4312782417"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"robust":[3],"preoperative":[4,59],"planning":[5,15,67,107],"of":[6,12,27,34,63,75,87,99,144,153],"RAMICS":[7],"is":[8,17,108,138],"formulated.":[9],"The":[10],"intent":[11],"the":[13,24,28,32,35,57,64,66,72,76,80,84,88,93,100,106,129,135,142,154],"proposed":[14],"framework":[16,68],"to":[18,70,92,102],"improve":[19],"surgical":[20,29,49,51,155],"outcomes":[21],"by":[22,140],"contemplating":[23],"intraoperative":[25,103],"conditions":[26],"procedure":[30],"and":[31,54,122,146],"geometry":[33],"patient's":[36,58,94],"thoracic":[37],"anatomy.":[38,95],"This":[39],"includes":[40],"improvements":[41],"in":[42,150],"target":[43],"reachability,":[44],"instrument":[45],"dexterity":[46],"for":[47],"critical":[48],"tasks,":[50],"task":[52,136],"feasibility":[53],"visibility.":[55],"Given":[56],"computed":[60],"tomography":[61],"images":[62],"chest,":[65],"aims":[69],"determine":[71],"optimal":[73,85],"location":[74],"access":[77],"ports":[78],"on":[79],"ribcage,":[81],"along":[82],"with":[83,116],"pose":[86],"robotic":[89],"arms":[90],"relative":[91],"To":[96],"minimize":[97],"susceptibility":[98],"results":[101],"geometric":[104,132],"uncertainty,":[105],"formulated":[109],"as":[110],"a":[111,117,123,151],"Generalized":[112],"Semi-Infinite":[113],"Program":[114],"(GSIP)":[115],"convex":[118],"lower":[119],"level":[120],"problem":[121],"multi-criteria":[124],"objective":[125],"function.":[126],"By":[127],"solving":[128],"GSIP,":[130],"tolerable":[131],"uncertainty":[133],"within":[134],"space":[137],"increased":[139],"eliminating":[141],"likelihood":[143],"collisions":[145],"joint":[147],"limit":[148],"violation":[149],"neighborhood":[152],"target.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}